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<div class="title">mtxPowerControl.cpp</div>  </div>
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<p>Shows how to turn power outputs on and off on MTX.The 'mtx' Linux kernel module must be loaded, and the /dev/mtx character device must have been created (see mtxPowerControlDriver documentation). You must have read/write access to /dev/mtx.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include &quot;Aria.h&quot;</span></div><div class="line"><span class="preprocessor">#include &quot;ArMTXIO.h&quot;</span></div><div class="line"></div><div class="line"><span class="keywordtype">void</span> testPower(<a name="_a0"></a><a class="code" href="classArMTXIO.html">ArMTXIO</a>&amp; io, <span class="keyword">const</span> <span class="keywordtype">char</span>* name, <span class="keywordtype">int</span> bank, <span class="keywordtype">int</span> bit, <span class="keyword">const</span> <span class="keywordtype">char</span> *conndesc)</div><div class="line">{</div><div class="line">  io.<a name="a1"></a><a class="code" href="classArMTXIO.html#a2860f600f2d9d64540e8371b32928311">lock</a>();</div><div class="line">  <a name="a2"></a><a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a3"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;mtxPowerControl: Turning on %s (bank %d bit %d) for 3 seconds. This is at connector %s&quot;</span>, name, bank, bit, conndesc);</div><div class="line">  io.<a name="a4"></a><a class="code" href="classArMTXIO.html#a6796234c0c4f46eb8ff0c5f941922084">setPowerOutput</a>(bank, bit, <span class="keyword">true</span>);</div><div class="line">  io.<a name="a5"></a><a class="code" href="classArMTXIO.html#a30f799f1e10d8120ce2461cb49505941">unlock</a>();</div><div class="line">  <a name="a6"></a><a class="code" href="group__easy.html#ga4dfb878a3f9123b8dd96ae05b2fd94cb">ArUtil::sleep</a>(3000);</div><div class="line">  io.<a class="code" href="classArMTXIO.html#a2860f600f2d9d64540e8371b32928311">lock</a>();</div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;mtxPowerControl: Turning off %s.&quot;</span>, name);</div><div class="line">  io.<a class="code" href="classArMTXIO.html#a6796234c0c4f46eb8ff0c5f941922084">setPowerOutput</a>(bank, bit, <span class="keyword">false</span>);</div><div class="line">  io.<a class="code" href="classArMTXIO.html#a30f799f1e10d8120ce2461cb49505941">unlock</a>();</div><div class="line">  <a class="code" href="group__easy.html#ga4dfb878a3f9123b8dd96ae05b2fd94cb">ArUtil::sleep</a>(3000);</div><div class="line">}</div><div class="line"></div><div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div><div class="line">{</div><div class="line">  <a name="a7"></a><a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line">  <a name="_a8"></a><a class="code" href="classArArgumentParser.html">ArArgumentParser</a> parser(&amp;argc, argv);</div><div class="line">  parser.<a name="a9"></a><a class="code" href="classArArgumentParser.html#a501694b62a7f8b0c3cadd84aeafe1b35">loadDefaultArguments</a>();</div><div class="line">  <a name="_a10"></a><a class="code" href="classArRobot.html">ArRobot</a> robot;</div><div class="line"></div><div class="line">  <a name="_a11"></a><a class="code" href="classArRobotConnector.html">ArRobotConnector</a> robotConnector(&amp;parser, &amp;robot);</div><div class="line">  <span class="keywordflow">if</span>(!robotConnector.<a name="a12"></a><a class="code" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;mtxPowerControl: Could not connect to the robot.&quot;</span>);</div><div class="line">    <span class="keywordflow">if</span>(parser.<a name="a13"></a><a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">    {</div><div class="line">        <span class="comment">// -help not given</span></div><div class="line">        <a name="a14"></a><a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">        <a name="a15"></a><a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    }</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span> (!<a name="a16"></a><a class="code" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1">Aria::parseArgs</a>() || !parser.<a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">  }</div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a17"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;mtxPowerControl: Connected.&quot;</span>);</div><div class="line">  robot.<a name="a18"></a><a class="code" href="classArRobot.html#aceef80a6274fb34aafcc422e4b1778c1">comInt</a>(ArCommands::JOYINFO, 0);</div><div class="line"></div><div class="line">  <a class="code" href="classArMTXIO.html">ArMTXIO</a> io;</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span>(!io.<a name="a19"></a><a class="code" href="classArMTXIO.html#a77e058904a383074449322d3dcb2e6a3">isEnabled</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;mtxPowerControl: Error opening MTX IO device interface! Is the mtx driver loaded in the operating system? Manually load the driver, and check operating system logs for messages.&quot;</span>);</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(4);</div><div class="line">  }</div><div class="line"></div><div class="line">  robot.<a name="a20"></a><a class="code" href="classArRobot.html#a3c3d878cfd11a2ef91230005a83bfcaa">runAsync</a>(<span class="keyword">true</span>);</div><div class="line"></div><div class="line">  <span class="comment">// Note that bank and bits are 0-indexed, so 1 is subtracted here to effect</span></div><div class="line">  <span class="comment">// that.</span></div><div class="line">  testPower(io, <span class="stringliteral">&quot;Aux_5V_Out&quot;</span>, 3-1, 1-1, <span class="stringliteral">&quot;AUX POWER pin #4&quot;</span>);</div><div class="line">  testPower(io, <span class="stringliteral">&quot;Aux_12V_Out&quot;</span>, 3-1, 2-1, <span class="stringliteral">&quot;AUX POWER pin #5&quot;</span>);</div><div class="line">  testPower(io, <span class="stringliteral">&quot;Aux_20V_Out&quot;</span>, 3-1, 3-1, <span class="stringliteral">&quot;AUX POWER pin #6&quot;</span>);</div><div class="line">  testPower(io, <span class="stringliteral">&quot;Aux_24V_Raw_1&quot;</span>, 2-1, 5-1, <span class="stringliteral">&quot;USER POWER pin #7&quot;</span>);</div><div class="line">  testPower(io, <span class="stringliteral">&quot;Aux_24V_Raw_2&quot;</span>, 2-1, 6-1, <span class="stringliteral">&quot;USER POWER pin #8&quot;</span>);</div><div class="line">  testPower(io, <span class="stringliteral">&quot;Aux_24V_Raw_3_4&quot;</span>, 2-1, 7-1, <span class="stringliteral">&quot;USER POWER pins 9, 10 (no estop), 11, 12 with estop)&quot;</span>);</div><div class="line">  </div><div class="line"></div><div class="line">  <span class="comment">// You can control power to robot components as well. See manual for more</span></div><div class="line">  <span class="comment">// info.</span></div><div class="line">  <span class="comment">// LRF power is bank 1 bit 3</span></div><div class="line">  <span class="comment">// Wheel lights is bank 1 bit 6</span></div><div class="line">  <span class="comment">// Sonar 1 power is bank 1 bit 7</span></div><div class="line">  <span class="comment">// Sonar 2 power is bank 1 bit 8</span></div><div class="line">  <span class="comment">// Audio amp. is bank 3 bit 5</span></div><div class="line">  <span class="comment">// USB 1+2 is Bank 2 bit 1 (USB12_5V_SW on AUX SENSORS pin 9, and on USB connectors 1 and 2)</span></div><div class="line">  <span class="comment">// USB 3 is Bank 2 bit 2 (USB3_5V_SW on AUX SENSORS pin 14, and on USB connector 3)</span></div><div class="line">  <span class="comment">// Aux laser 1 power is bank 2 bit 3 (vert) (Vertical_Laser_Power, AUX SENSORS pins 5 and 10)</span></div><div class="line">  <span class="comment">// Aux laser 2 power is bank 2 bit 4 (foot) (Foot_Laser_Power, AUX SENSORS pin 15</span></div><div class="line"></div><div class="line"></div><div class="line"></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;mtxPowerControl: Exit&quot;</span>);</div><div class="line">  <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(0);</div><div class="line"></div><div class="line">}</div></div><!-- fragment --> </div><!-- contents -->
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